How to Run the Example

This example demonstrates how to create a simple CGF application (outside of the context of the vrfSim application). It shows how to create an embedded CGF in an non-VR-Forces application.

Usage

To run the application:

Open a command prompt window and navigate to the VR-Forces /bin64/ directory.
Start just the VR-Forces vrfGUI (frontend) through the Launcher - using the command "vrfLauncher -F"
From the Launcher - start VR Forces using the preconfigured DIS (7) connection (rather than "DIS (7) localhost")
Do not load an existing or create a new scenario.
Open the userData/terrains/Ground_DB II.mtf terrain database.
Open a separate command prompt window, navigate to the VR-Forces /bin64/ directory and start simpleCgf from the command prompt with the --deviceAddress option as "simpleCGFDIS \--deviceAddress <deviceAddress>" - e.g.:
```
  simpleCGFDIS.exe --deviceAddress 127.0.0.1

  Note:
  The necessary front-end command line arguments can be copied from the Launcher UI.
```
Join the session when propmpted by the vrfGui.
The simpleCgf application creates a tank tasked to move toward a waypoint in the Ground_DB II.mtf terrain.
A tank and waypoint will appear in the display, and the tank will immediately begin moving toward the waypoint.

Main Application File

/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
//This example demonstrates how to use the DtCgf class to create objects
//and task entities, as you would if you were to embed VR-Forces in your own 
//application.
#ifdef WIN32
#include <winsock2.h>
#include <windows.h>
#endif
//VR-Forces Headers
#include "vrfcgf/cgf.h"
#include "vrfcgf/cgfDispatcher.h"
#include "vrftasks/moveToTask.h"
#include "vrfobjcore/localObject.h"
//VR-Link headers
#include <vl/exerciseConn.h>
#include <vl/exerciseConnInitializer.h>
#include <vlutil/vlPrint.h>
#include <vlutil/vlProcessControl.h>
#include <vl/hostStructs.h>
#include "vrfutil/vrfVlKeyboard.h"
// Instead of an exercise connection, the cgf must now be initialized with a communication manager that
// contains the supported network protocols
#include <vrfMsgTransport/communicationManager.h>
#include <vrlinkNetworkInterface/vrlinkNetworkInterface.h>
using namespace makVrf;
int main(int argc, char *argv[])
{
   //DIS/RPR simulation address
   DtSimulationAddress simAddress(1, 3001);
   //Create the CGF
   DtCgf* cgf = new DtCgf(simAddress);
   // The following is left so the user can see how to piece together a 
   // simple DIS or HLA exercise connection. Also so you know what execName to 
   // pass for HLA for the -x command. Use this and you don't need anything else, it will use 
   // a default fed file of VR-Link.fed(for HLA13) or VR-Link.xml( for HLA1516/1516e) However to make life easier we're also 
   // going to show you how to use an DtVrlApplicationInitializer so you can parse the command line as well
   //Create the exercise connection
/*#if DtHLA
   DtString execName           = "VR-Link";     //HLA federation execution name
   DtString federateName       = "simpleCgf";   //HLA federate name
   double rprFomVersion        = 1.0;           //RPR FOM version number
   DtExerciseConn* exerciseConn = new DtExerciseConn(execName, federateName,
      new DtRprFomMapper(rprFomVersion));
#else //DIS
   int port = 3928;                             //UDP port number
   int exerciseId = 1;                          //DIS exercise ID
   DtExerciseConn* exerciseConn = new DtExerciseConn(port, DtInetAddr("127.255.255.255"),exerciseId, 
      simAddress.siteId(), simAddress.applicationId());
#endif*/
   // Use this to parse the command line then pass the initializer to the exercise connection
   DtVrlApplicationInitializer initializer(argc, argv, "simpleCgf");
#if DtDIS
   initializer.setDisVersionToSend(7);
#endif
   initializer.parseCmdLine();
#if DtDIS
   initializer.setSiteId(simAddress.siteId());
   initializer.setApplicationNumber(simAddress.applicationId());
#endif
   DtExerciseConn* exerciseConn = new DtExerciseConn(initializer);
   // Turn off warnings for too many PDUs sent in a second as this is expected on terrain that is very hilly or has a lot
   // of quick altitude changes
   DtObjectPublisher::setDfltUpdateRateWarningThreshold(10000);
   DtCommunicationManager* communicationManager = DtCommunicationManager::createCommunicationManager(simAddress);
   DtVrlinkNetworkInterface* vrliface = DtVrlinkNetworkInterface::createVrlinkNetworkInterface(exerciseConn);
   communicationManager->addManager(vrliface);
   //Initialize the CGF
   cgf->init(communicationManager);
   //Create the dispatcher so this application can interface with
   //front-end
   DtCgfDispatcher* cgfDispatcher = new DtCgfDispatcher(cgf,
      cgf->simulationServices()->messageInterface());
   //Create a new scenario, using the Ground-db.gdb terrain database and the EntityLevel
   //simulation model set to allow for entity creation.  Also create a global environment and dynamic terrain object
   cgf->newScenario(DtFilename("$(SHARED_DATA_DIR)/TerrainData/TerrainConfiguration/Ground_DB II.mtf"),
      DtFilename("$(DATA_DIR)/simulationModelSets/EntityLevel.sms"), true, true);
   //Tick the cgf to get the terrain loaded
   cgf->tick();
   
   //Create a tank
   DtEntityType tankType(1, 1, 225, 1, 1, 3, 0);
   DtVector initialPosition(133.1, 164.6, 21.3); //Database coordinates, meters
   DtReal initialHeading = 0.0;                 //Heading in radians
   //At this point the simulation has not yet been started, so when creating
   //entities it's best to call createEntity without specifying the
   //"allowBlocking" parameter to allow it default to true. This will insure
   //that when using a paging terrain, the necessary pages will immediately
   //get paged in.
   DtLocalObject* tank = cgf->createEntity(
      tankType,                                 
      DtForceFriendly,                          
      initialPosition,              
      initialHeading);                                     
   //Create a waypoint named "Alpha"
   
   DtLocalObject* alpha = cgf->createWaypoint(
      DtVector(200.0, 300.0, 18.0),            
      "Alpha");
   //Put the simulation engine into run mode. This will tick the nav
   // interface to make sure the task below can execute using the nav area 
   // if it exists in the terrain.
   cgf->run();
   //Tell the tank to move to waypoint "Alpha"
   DtMoveToTask moveToTask;
   moveToTask.setControlPoint(alpha->uuid());
   cgf->assignTask(tank, moveToTask);
   //Used below to insure only one example entity is created at runtime
   bool entityCreatedAtRuntime = false;
   //Main application loop
   while (1)
   {
      //tick the CGF Dispatcher
      cgfDispatcher->tick();
       
      //tick the CGF
      cgf->tick();
      //Poll & process keyboard input
      char *keyPtr = DtGetInputLine();
      if (keyPtr && *keyPtr == 'q')
      {
         break;
      } 
      //Give up the remainder of our time slice.
      DtSleep(0.01);
      
      //This is an example of creating an entity at runtime
      if (!entityCreatedAtRuntime)
      {
         //Change the initial position so this entity isn't created on top of
         //the first one
         initialPosition.setX(75);
         //In this case when calling createEntity, the allowBlocking flag must
         //be set to false. If the entity being created requires a new tile to
         //be swapped in, the simulation can't block while it gets loaded in
         //without having a negative effect on the models.
         cgf->createEntity(tankType, DtForceFriendly, initialPosition,              
            initialHeading, DtString::nullString(), false);
         //reset the flag so only one entity gets created
         entityCreatedAtRuntime = true;
      }
   }    
   delete cgf;
   delete communicationManager;
   delete exerciseConn;
   return 0;
}

Table of Contents

How to Run the Example

Usage

Main Application File